Dual axis articulated electronic input device

ABSTRACT

The present invention provides a dual axis articulated computer input device. Position sensors are configured to provide position information indicative of a position of two handle members relative to one another.

REFERENCE TO CO-PENDING APPLICATION

The following patent application is hereby incorporated by reference:

U.S. patent application Ser. No. 29/099,878 filed Jan. 29, 1999 entitled“COMPUTER INPUT DEVICE” and assigned to the same assignee as the presentapplication.

U.S. patent application Ser. No. 09/255,510 filed Feb. 22, 1999 entitled“DUAL AXIS ARTICULATED COMPUTER INPUT DEVICE AND METHOD OF OPERATION”and assigned to the same assignee as the present application.

BACKGROUND OF THE INVENTION

The present invention relates to a computer input device. Moreparticularly, the present invention relates to a two-handed computerinput device providing dual axis articulated movement.

Many different types of user input devices are currently used forproviding user input information to a computer. Such user input devicescan include, for example, a point and click device (which is commonlyreferred to as a computer mouse), a keyboard, a joystick, and a trackball. Such user input devices all typically sense the movement of amovable element relative to a fixed base or housing portion and providethe computer with an input signal indicative of that relative movement.

In addition, some current game applications which run on personalcomputers or game consoles are first person perspective applications.Such applications offer navigation and pointing capability that iscurrently achieved (albeit somewhat cumbersomely) through a combinationof mouse and keyboard manipulation. The mouse typically controls pointof view (up, down, left, right) and the keyboard offers positionalmovement control (slide left, slide right, forward, backward). The mousebuttons also offer a “fire” for action games and the keyboard offersnumerous selection options (weapon selection, door open, zoom in, etc.).Use of the mouse and keyboard in order to control these functions isvery difficult and requires a mastery of a relatively non-intuitivecombination of finger movements.

It can thus be seen that precision movement, aiming, and action controlin a first person perspective three dimensional virtual environment,using current input devices, can be cumbersome. Such games or virtualenvironments require very fast movement and also require the ability toquickly change directions in order to navigate through maze-likecorridors and in order to dodge enemy attacks. Aiming and pointing(which corresponds to looking up or down, left or right through thefirst person perspective view) are best accomplished with an inputdevice that offers control over a continuous range of movement (asopposed to a discrete button press) such as that available through amouse or joystick. Position movement control (such as moveforward/backward, or slide left/slide right, or elevation) is bestaccomplished by discrete keystrokes such as that offered by certainswitch configurations commonly found on joysticks, or buttons of thekeyboards, or other devices.

In addition, some types of user input devices assign more than twodegrees of freedom to a single input mode. For example, a joystick whichcan be pushed along an X axis, and a Y axis has two degrees of freedom,while a joystick which can be pushed along an X and Y axis and whichalso can be rotated about its longitudinal axis to provide an input tothe computer has three degrees of freedom. It has been found that thistype of user input device (one which provides more than two degrees offreedom per input mode) can exhibit a high degree of cross-axisinterference.

Cross-axis interference can be characterized by a user unintentionallyactuating one degree of freedom while trying to actuate a separatedegree of freedom. In other words, it is very difficult to preventtranslational movement (moving a joystick along the X or Y axis) whileattempting to perform a rotational movement (attempting to rotate thejoystick about its longitudinal axis). Such interference between thesedegrees of freedom is cross-axis interference. It is believed that thetendency toward cross-axis interference increases quadratically witheach added degree of freedom to any given input mode.

In addition to mice and keyboards, there are other types of conventionalinput devices used with gaming applications. One such conventionaldevice used for gaming applications is a game pad. However, this devicedoes not lend itself well to the maneuvering required for the firstperson perspective games. In standard direction pad and button onlygamepads, there is no way to input continuous movement. Using game padswith small thumbsticks (a joystick for the thumb) continuous input ispossible but the thumbstick is not positioned for intuitive movement,and the user must battle against the thumbstick's return-to-center forcewhich makes precision aiming difficult. The thumbstick is also fatiguingto the small muscle groups in the hand and thumb.

Joysticks employ arm and wrist muscles which do not offer the fine motorcontrol capability of smaller muscle groups. Common joystickconfigurations also have continuous movement apparatus (the joystick)and discrete movement apparatus (a hatswitch) which must be actuated bythe same hand. This makes it difficult to precisely control suchmovements. In addition, both the joystick and hatswitch includereturn-to-center spring forces which interfere with precision aiming.

Another input device is sold under the tradename Space Orb 360. Thisdevice offers six degrees of freedom which are manipulated by a singlehand. This makes the device extremely difficult to use, withoutextensive training or an innate biomechanical capability to isolate oneor two axes from the others which are controlled by the device.

Similarly, a device sold under the tradename Cyberman II offers sixdegrees of freedom to be manipulated by a single hand. This input deviceencounters the same difficulties as that described in the precedingparagraph.

Another input device is sold under the tradename Wingman Warrior. Thisdevice is a joystick with a free spinning knob for rotation only. Thedevice does not address many fundamentals necessary to succeed in afirst person perspective environment.

SUMMARY OF THE INVENTION

The present invention provides a dual axis articulated computer inputdevice. Position sensors are configured to provide position informationindicative of a position of two members relative to one another.

In one embodiment, the members are handles and one of the handlesrepresent a first person perspective view on a display device. Thehandles are movable relative to one another through a plurality ofbehavioral zones which affect a display on the display devicedifferently. In one embodiment, movement through a first behavioralzones causes absolute movement of the first person perspective view onthe display device. Movement through a second behavioral zone causes thefirst person perspective to move continuously rather than in an absolutefashion.

In another embodiment, tactile feedback is provided to a user as theuser transitions between zones. The tactile feedback can,illustratively, be a change in resistance to movement.

The present invention also provides an input device with ergonomicadvantages. Shapes and ranges of motion are provided which serve toreduce fatigue. In addition, data structures are provided which are usedto transmit position information to a computer. The data structures areformed and processed using advantageous methods and apparatus.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a computer system in which the input devicein accordance with the present invention can be utilized.

FIG. 2 is a block diagram of one embodiment of a computer which can beused with the input device in accordance with the present invention.

FIGS. 3A-3C illustrate absolute position sensing in accordance with oneaspect of the present invention.

FIG. 4A is a graph illustrating absolute and velocity control inaccordance with one aspect of the present invention.

FIG. 4B illustrates an absolute zone and a velocity zone in accordancewith one aspect of the present invention.

FIG. 5 is a high level functional block diagram of an input device inaccordance with one aspect of the present invention.

FIG. 6 illustrates one embodiment of an information packet generated bythe input device illustrated in FIG. 5.

FIG. 7 is a flow diagram illustrating the operation of the input deviceshown in FIG. 5 in generating an information packet.

FIG. 8 is a functional block diagram illustrating the processing of aninformation packet in accordance with one aspect of the presentinvention.

FIGS. 9A-9C are flow diagrams illustrating the processing of aninformation packet in accordance with one aspect of the presentinvention.

FIG. 10 is an exploded view of an input device in accordance with oneembodiment of the present invention.

FIG. 11 is an enlarged view of a portion of the input device shown inFIG. 10.

FIGS. 12A-14B illustrate a cam arrangement in accordance with one aspectof the present invention.

FIGS. 15-17 illustrate certain ergonomic features in accordance with oneaspect of the present invention.

DETAILED DESCRIPTION OF THE ILLUSTRATIVE EMBODIMENTS

FIG. 1 is a partial block and partial pictorial diagram of system 10 inaccordance with one aspect of the present invention. System 10 includesinput device 14, computer display device 15 and computer 20.

It should be noted that, in one illustrative embodiment, device 14 canbe implemented as any input device (such as a joystick), with a handle,or portion thereof, movable relative to another portion thereof.However, for purposes of simplicity, the present discussion proceedswith respect to the illustrative embodiment of device 14 illustrated inFIG. 1.

Computer input device 14, in accordance with one aspect of the presentinvention, is provided with first and second handle members 16 and 18,respectively. Members 16 and 18 are sized to fit within the hand of theuser and are movable relative to one another. In one illustrativeembodiment, members 16 and 18 are connected by a linkage generallyillustrated at 22. Linkage 22 allows member 18 to be articulatedrelative to member 16 in a yaw direction (or side to side along anX-axis) generally indicated by arrow 24. Linkage 22 also illustrativelyallows member 18 to be pivoted in a pitch direction (or up and downalong a Y-axis) in a direction generally indicated by arrow. 26. Thismotion, and linkage 22, is described in greater detail later in thespecification. In addition, computer input device 14 illustrativelyincludes position sensors which sense the position of member 18 relativeto member 16.

In accordance with one illustrative embodiment of the present invention,computer input device 14 is also provided with an array of buttons 28.In one illustrative embodiment, array 28 includes four buttons on member18 and three additional buttons (including a shift key) on member 16.Further, computer input device 14 is provided with a multiple switchinput device 30 (such as a direction pad or hatswitch), and one or moretriggers 32. FIG. 1 also illustrates that members 16 and 18 of computerinput device 14 also may include elongate handle portions 34 and 36which extend downwardly and away from the button array 28 and are sizedto fit comfortably within the hand of the user.

Computer input device 14 includes a controller which receivesinformation indicative of the various buttons, triggers and multi-switchinput devices, as well as from the position sensors, and generates aninformation packet indicative of that information. The informationpacket is provided to computer 20 (one embodiment of which is describedin greater detail in FIG. 2). Computer 20 illustratively includes anapplication program, such as a game or other program which utilizes theinformation in the packet from input device 14. Computer 20 operates toprovide the information in the packet from input device 14 to theapplication program running on computer 20, which uses the informationto manipulate an object being displayed on display device 15. In anillustrative embodiment, computer 20 is a personal computer, and displaydevice. 15 may be any type of display such as a CRT-type monitor(including television displays, LCD displays, plasma displays, and soforth). In alternative embodiments, computer 20 may also be a dedicatedcomputer, such as one of the many dedicated gaming computersmanufactured by Nintendo, Sega, Sony and others, or a dedicatedsimulation or control computer. Some such computers are sold under thedesignations Sega Dreamcast and Sony Playstation.

Of course, the information packet provided by computer input device 14to computer 20 can be used by computer 20 (and the application programrunning thereon) to control other items, other than a display device 15.However, the present invention will be described primarily with respectto controlling display device 15, for the sake of clarity.

With reference to FIG. 2, an exemplary environment for the inventionincludes a general purpose computing device in the form of conventionalpersonal computer 20, including processing unit 38, a system memory 39,and a system bus 40 that couples various system components including thesystem memory to the processing unit 38. The system bus 40 may be any ofseveral types of bus structures including a memory bus or memorycontroller, a peripheral bus, and a local bus using any of a variety ofbus architectures. The system memory includes read only memory (ROM) 41a random access memory (RAM) 42. A basic input/output system 43 (BIOS),containing the basic routine that helps to transfer information betweenelements within the personal computer 20, such as during start-up, isstored in ROM 41. The personal computer 20 further includes a hard diskdrive 44 for reading from and writing to a hard disk (not shown), amagnetic disk drive 45 for reading from or writing to removable magneticdisk 46, and an optical disk drive 47 for reading from or writing to aremovable optical disk 48 such as a CD ROM or other optical media. Thehard disk drive 44, magnetic disk drive 45, and optical disk drive 47are connected to the system bus 40 by a hard disk drive interface 49,magnetic disk drive interface 50, and an optical drive interface 51,respectively. The drives and the associated computer-readable mediaprovide nonvolatile storage of computer readable instructions, datastructures, program modules and other data for the personal computer 20.

Although the exemplary environment described herein employs a hard disk,a removable magnetic disk 46 and a removable optical disk 48, it shouldbe appreciated by those skilled in the art that other types of computerreadable media which can store data that is accessible by a computer,such as magnetic cassettes, flash memory cards, digital video disks,Bernoulli cartridges, random access memories (RAMs), read only memory(ROM), and the like, may also be used in the exemplary operatingenvironment.

A number of program modules may be stored on the hard disk, magneticdisk 46, optical disk 48, ROM 41 or RAM 42, including an operatingsystem 52, one or more application programs 53, other program modules54, and program data 55. A user may enter commands and information intothe personal computer 20 through input devices such as a keyboard 56 andpointing device 57. Other input devices (not shown) may include amicrophone, joystick, game pad, satellite dish, scanner, or the like.These and other input devices are often connected to the processing unit38 through an interface 58 that is coupled to the system bus 40.Interface 58 can include a number of different interfaces, such as asound card, a parallel port, a game port or a universal serial bus(USB). The monitor 16 or other type of display device is also connectedto the system bus 40 via an interface, such as a video adapter 59. Inaddition to the monitor 16, personal computers may typically includeother peripheral output devices such as speakers and printers (notshown).

The personal computer 20 may operate in a networked environment usinglogic connections to one or more remote computers, such as a remotecomputer 60. The remote computer 60 may be another personal computer, aserver, a router, a network PC, a peer device or other network node, andtypically includes many or all of the elements described above relativeto the personal computer 20, although only a memory storage device 61has been illustrated in FIG. 2. The logic connections depicted in FIG. 2include a local are network (LAN) 62 and a wide area network (WAN) 63.Such networking environments are commonplace in offices, enterprise-widecomputer network intranets and the Internet.

When used in a LAN networking environment, the personal computer 20 isconnected to the local area network 62 through a network interface oradapter 64. When used in a WAN networking environment, the personalcomputer 20 typically includes a modem 65 or other means forestablishing communications over the wide area network 63, such as theInternet. The modem 65, which may be internal or external, is connectedto the system bus 40 via the serial port interface 58. In a networkenvironment, program modules depicted relative to the personal computer20, or portions thereof, may be stored in the remote memory storagedevices. It will be appreciated that the network connections shown areexemplary and other means of establishing a communications link betweenthe computers may be used.

When computer 20 is a dedicated computer, the specific architecture maydiffer from that illustrated in FIG. 2. The differences, however, are ofno great consequence. All such computers contain a mechanism forexecuting computer software and/or hardware that receives informationfrom input device 14 and utilizes the information received to modify thebehavior or appearance of software and/or hardware. Often this resultsin a change that is visible on a display device.

FIGS. 3A-3C illustrate position sensing in accordance with one aspect ofthe present invention. In FIG. 3A, computer input device 14 is shownrelative to a display 100 on display device 15. FIG. 3A illustrates thatdisplay 100 is only a portion of a 3D virtual environment which can bedisplayed on display device 15. With member 18 in a substantiallycentral position relative to member 16, along both the X and Yrotational axes, the portion of the three dimensional virtualenvironment being displayed is a central portion of the first personperspective view as illustrated in FIG. 3A.

However, FIG. 3B shows a top view of computer input device 14illustrating that member 18 can be pivoted in the X direction indicatedby arrow 24, relative to member 16, and generally about an axis ofrotation 102. If device 14 is implemented as a joystick, pivoting aboutaxis 102 may correspond, for example, to movement of the joystick in aside-to-side fashion. As member 18 is pivoted about axis 102 within acertain, predetermined range of motion, computer input device 14 formsthe information packet including information indicative of the relativeposition of member 18, relative to member 16, about axis 102. Thisinformation can be used by computer 20 (and an application runningthereon) to control the point of view being displayed on display device15.

For example, as member 18 is rotated about axis 102 within thepredetermined range of motion, the point of view may illustratively becorrespondingly shifted in the direction indicated by arrow 104 in FIG.3B. As member 18 is articulated counter clockwise about axis 102, thepoint of view can be shifted toward the position indicated by numeral100A in FIG. 3B. Similarly, as member 18 is articulated in the clockwisedirection about axis 102, the point of view can be shifted toward theposition 100B illustrated in FIG. 3B. In this way, absolute movement ofmember 18 relative to member 16 is directly mapped to absolute movementof the point of view being displayed, as illustrated in FIG. 3B. Ofcourse, this same type of mapping can be accomplished when device 14 isimplemented in another way, such as a joystick.

FIG. 3C illustrates a side view of computer input device 14. FIG. 3Cillustrates that, in one illustrative embodiment, member 18 of computerdevice 14 is not only articulable about axis 102 (shown in FIG. 3B), butcan also be rotated about axis 106, in the pitch or Y directionindicated by arrow 26. When device 14 is a joystick, rotation about axis106 may correspond to movement of the joystick in a front-to-back (orback-to-front) fashion. As member 18 is pitched in the directionindicated by arrow 26, so long as it stays within the predeterminedrange of motion, the first person perspective displayed on displaydevice 15 is correspondingly moved in the direction indicated by arrow108. For example, as member 18 is rotated in a counter clockwisedirection (with reference to FIG. 3) the first person perspective shiftsupwardly toward the position designated by numeral 100C in FIG. 3C.Similarly, as member 18 is rotated about axis 106 in a clockwisedirection (again with reference to FIG. 3C) the first person perspectivedisplayed on display device 15 is shifted downwardly, such as toward theposition designated generally by numeral 100D. Thus, so long as member18 is rotated about axis 106 within the predetermined range of motion,absolute movement of member 18 relative to member 16 can be mapped toabsolute movement of the first person perspective displayed on displaydevice 15. This same type of mapping can be done when device 14 isimplemented as, for example, a joystick.

Of course, the absolute movement of member 18 relative to member 16,about either axis 102 or 106, can either be directly mapped, or can bescaled upwardly or downwardly to provide absolute movement of the firstperson perspective displayed on display device 15. For instance, fivedegrees of rotation of member 18 about either axis 102 or 106 maycorrespond to 20 degrees of rotation of the first person perspectiveview in the virtual environment being displayed on display device 15.Any desirable scaling factor (including 1:1) can be used.

If member 18 is moved beyond the predetermined range of motion abouteither axis 102 or 106 (or if the joystick is moved side-to-side orforward or backward beyond the predetermined range of motion), suchmovement is no longer mapped to absolute movement or absolute positionof the first person perspective view being displayed on display device15. Instead, that movement illustratively corresponds to a continuousmovement of the first person perspective view. For example, if member 18is articulated about axis 102 in the direction indicated by arrow 24(shown in FIG. 3B) by an amount which exceeds the predetermined range ofmotion, then the first person perspective view will appear tocontinuously spin in the direction of movement of member 18, untilmember 18 is brought back within the predetermined range of motion. Thisis illustrated in greater detail in FIGS. 4A and 4B.

FIG. 4A illustrates a range of motion (in degrees rotation) about eitheraxis 102 or 106, plotted against the physical force opposing suchrotation which is felt by the user, in one illustrative embodiment. Therange of motion is shown divided into three different ranges or behaviorzones 110, 112 and 114, although more or fewer zones with differentprofiles can be used as well. As the user rotates member 18 within range110 (which in one illustrative embodiment is about + or −30 degreesrelative to a centered, neutral position, but any desired range may beused, and the range may be asymmetric about the neutral position, ifdesired) the user illustratively perceives a viscous fluid motion, withlight, constant resistance to movement throughout the entire zone 110.

However, a return to center force may also be provided in zone 110. Assoon as the user rotates member 118, in either direction, beyond theboundaries of zone 110, the user illustratively encounters a differentresistance to movement, such as increasing force. Therefore, as the userrotates member 118 beyond about the +30 degree range of motion, and intorange 112, for instance, the user encounters increasing physicalresistance to movement as the user continues to rotate member 118through its full positive range of motion (e.g., to about +40 degrees).Similarly, as the user rotates member 118 beyond about −30 degrees fromneutral, and into zone 114, the user encounters increasing resistance tocontinued rotation through zone 114 through its complete range of motion(e.g., to about −40 degrees). It should also be noted that any or allzones may be configured with a return to center force as well. Further,other non-linear or stepped force profiles can be also be used in any orall of the zones. The force may increase and then decrease within anyzone. Also, the central zone 110 need not exhibit a constant forceprofile. A linear, ever increasing force profile is shown in the outerzones and a linear, constant force profile is shown in the central zonefor illustrative purposes only.

In one illustrative embodiment, the force profile illustrated in FIG. 4Ais accomplished using a cam and cam follower arrangement which isillustrated in greater detail in FIGS. 12A-14B, discussed below.However, any other arrangement can be used which accomplishes thedesired force profile. For example, compression or extension springs,fluid filled dashpots, pneumatic or hydraulic systems,air-over-hydraulic systems, or other varying resistance assemblies orbias members can be used.

FIG. 4B illustrates different behavioral zones (e.g., absolute andvelocity zones of movement) in accordance with one aspect of the presentinvention. FIG. 4B will be described in conjunction with FIG. 4A andFIGS. 3A-3C. FIG. 4B is a plot of pitch movement (or Y-axis movement) ofmember 118 about axis 106, and yaw movement (or X-axis movement) ofmember 18 about axis 102. The plot in FIG. 4B is divided into threecontrol bands or behavioral zones 116, 118, and 120, respectively.Although more or fewer behavioral zones can be used as well. Thebehavioral zones are plotted against axes which represent pitch movement(Y-axis movement) of member 18 about axis 106 and yaw movement (X-axismovement) of member 18 about axis 102 when device 14 is a joystick, suchbehavioral zones correspond to forward/backward and side-to-sidemovement of the joystick, respectively.

Behavioral zone 116 is a central band which generally represents theneutral or centered position within the range of motion of member 18with respect to member 16. It should be noted that central control band116 may be represented by only a single point or a small group of pointsin FIG. 4B, or by a large group of points. Behavioral zone 118 is anabsolute positioning control band which corresponds to the predeterminedrange of motion 110 about axis 102 and 106. Behavioral zone 120represents a velocity control band corresponding to movement of member18 in either direction beyond the predetermined range of motion 110.

While the control bands can behave in a similar fashion with respect torotation of member 18 about either axis 102 or 106, the presentdiscussion will proceed only with respect to rotation of member 18 aboutaxis 102, for the sake of simplicity. As the user moves member 18relative to member 16 about axis 102, within zone 118, device 14provides information to computer 20 indicative of the relative positionof members 16 and 18, and, in the embodiment in which display device 15is displaying a virtual environment for a game, computer 20 causes thefirst person perspective view to shift in an absolute fashion, eitherleft or right, in the same direction as rotation of member 18 about axis102. Therefore, if the user rotates member 18, for example, +5 degreesabout axis 102, relative to center band 116, computer 20 causes thefirst person perspective view to shift a predetermined distance to theright, as illustrated in FIG. 3B. It should be noted that 5 degrees ofmovement of member 18 can correspond to either the same amount ofmovement of the first person perspective view, or a different amount ofmovement. However, the absolute movement of member 18 is illustrativelydirectly mapped to absolute movement of the first person perspectiveview.

When movement of member 18 about axis 102 exits behavioral zone 118 andenters behavioral zone 120, absolute movement of member 18 is no longermapped to absolute movement of the first person perspective view.Instead, movement of member 18 within zone 120 establishes a continuousmovement of the first person perspective view in a directioncorresponding to the direction of rotation of member 18 about axis 102.In other words, if the user rotates member 18 in a clockwise directionabout axis 102 into zone 120, the first person perspective viewillustrated in FIG. 3B will begin spinning to the right. So long as theuser holds member 18 in a fixed position within zone 120, the firstperson perspective view will continue to spin to the right at a constantvelocity.

In one illustrative embodiment, zone 120 is divided into a plurality ofsub-control bands. Therefore, as the user rotates member 18 about axis102 further into zone 120, member 18 moves through the sub-control bandsand the first person perspective view will spin at a higher velocity ineach zone. Thus, the velocity profile through zone 120 increases in astep wise fashion as member 18 is moved through the sub-control bands.Similarly, in an alternate embodiment, the velocity profile of zone 120can be represented by a linear, increasing function or a nonlinearincreasing (e.g., exponential or quadratic) function or a linear ornon-linear function which is not continuously increasing, but increasesat first, then levels or decreases. The shape of the velocity profilemay also be selectable or adjustable by the user. In that case, the usermay be provided an opportunity to select from among a variety ofdifferent predetermined profiles or to customize the profile byspecifying a profile shape.

It will be appreciated that, as the user rotates member 18 further intozone 120, the user is also illustratively encountering increasedphysical resistance to rotation about the axis in the device, asillustrated by range of motion 112, in the force profile illustrated inFIG. 4A. Thus, the higher velocity is intuitively coupled with theincreasing physical resistance to give the user tactile feedback as tothe velocity corresponding to a given rotation into the velocity zone.Of course, it should again be mentioned that other force profiles (e.g.,steeper or shallower inclines, non-linear, stepped, etc.) can also beused for the zones. In those cases, the tactile feedback (force profile)may or may not be configured to generally match the velocity profile.

As the user begins rotating member 18 in a counter clockwise directionabout axis 102, back toward the boundary between behavioral zones 118and 120, the velocity at which the first person perspective view isspinning follows the velocity profile in that direction. Thus, in theembodiment illustrated, the velocity at which the first personperspective view is spinning decreases. The transition from zone 120back into zone 118 can be handled in a number of different ways. Forinstance, it may be desirable to have member 18 placed in the center orneutral position 116, upon exiting control band 120, before absolutepositioning is resumed. In that case, as the user rotates member 18counter clockwise about axis 102, the boundary between zones 118 and 120can be moved to be coincident with the boundary between zones 118 and116. The first person perspective view will thus continue to spin at adecreasing velocity until member 18 is rotated about axis 102 all theway to the boundary of central zone 116. Then, the boundary betweenzones 120 and 118 is re-established at its original position (shown inFIG. 4B) and the user can resume absolute positioning within zone 118,as discussed above.

In another illustrative embodiment, the transition from zone 120 to zone118 is handled in a different manner. In that embodiment, as the userrotates member 18 counter clockwise and crosses the boundary of zone118, the user simply encounters a dead zone, in which no movement of thefirst person perspective view is perceived until the user continuesrotating member 18 counter clockwise to within central zone 116. Inother words, as the user rotates member 18 counter clockwise about axis102 past the boundary of zone 120, into zone 118, the first personperspective view will stop spinning, and will not move at all eventhough the user continues to rotate member 18 through zone 118 towardcentral zone 116. Once the user has recentered member 18 to be withinzone 116, normal positioning is resumed.

Further, in an alternate embodiment, member 18 need not be centeredwithin zone 118 for control to switch. In other words, as soon as member18 is returned from zone 120 to zone 118, absolute movement control isresumed. Also, the boundary at which this occurs can be set atsubstantially any desirable point along the range of motion. It shouldalso be noted that this point may be selectable or adjustable by theuser.

FIG. 5 is a block diagram of one embodiment of user input device 14.FIG. 5 illustrates that user input device 14 includes controller 124, Xand Y position sensors 126 and 128, calibration circuitry 130, buttonarray switches, trigger switches and the switches corresponding tomulti-switch input device 30 (all collectively designated by numeral132) and zone calibration circuitry 134.

X and Y sensors 126 and 128 may be rotational potentiometers. Of course,sensors 126 and 128 can be other types of sensors, such as optical ormechanical encoders, capacitive sensors, electromagnetic sensors, etc.Where sensors 126 and 128 are potentiometers, sensor 126 illustrativelyhas a resistive portion coupled to member 16 and a wiper portion coupledto member 18 (or vice versa). Therefore, as member 18 is rotated aboutpitch axis 106, the resistive value of the potentiometer which embodiessensor 126 changes. Similarly, sensor 128 illustratively has a resistiveportion coupled to member 16 and a wiper portion coupled to member 18(or vice versa). Therefore, as member 18 is rotated about axis 102, theresistive value of the potentiometer which embodies sensor 128 changes.In this manner, sensors 126 and 128 provide a signal indicative of the Xand Y (pitch and yaw) position of member 18 relative to member 16.

Similarly, when device 14 is a joystick, sensors 126 and 128 can be anyconventional sensor arrangement used for sensing side-to-side andforward/back movement of the joystick. One such arrangement is set outin U.S. Pat. No. 5,694,153, which is hereby fully incorporated byreference.

The signal from sensors 126 and 128 is provided to an analog-to-digital(A/D) converter 136. In the illustrative embodiment, converter 136 isintegral with microcontroller 124. Of course, other discrete A/Dconverters can be used as well. A/D converter 136 converts the analogsensor signals from sensors 126 and 128 into digital signals which areprovided to microcontroller 124.

In order to calibrate sensors 126 and 128, computer input device 14 isillustratively placed in a test fixture which can be manipulated torotate member 18 to precisely known angles relative to member 16. Whenin the precisely known angles, the values output by sensors 126 and 128are set (such as trimmed) to desired values using sensor calibrationcircuit 130. In one illustrative embodiment, circuit 130 is a circuit oftrim potentiometers arranged to trim the output values of sensors 126and 128. Other calibration circuits, either hardware of software can beused as well. Some examples include physically re-orienting an opticalencoder, programming programmable power supplies or providing a digitaloffset once the signal is converted to digital form.

The switches 132 for the button array, triggers, and hatswitch, in oneillustrative embodiment, simply comprise an array of switches whichprovide signals indicative of their closure to microcontroller 124.Therefore, as any of the buttons in array 28 or triggers 32, or thebuttons associated with hatswitch 30, are depressed, those buttons andtriggers cause a switch closure which is sensed by microcontroller 124.

Zone calibration circuitry 134 is used to set (such as to trim orotherwise accurately set) the zone boundaries between the absolutepositioning zone and the velocity positioning zone (described withrespect to behavioral zones 118 and 120 illustrated in FIG. 4B) . Forergonomic or other reasons, it may be desirable to have the full rangeof motion about both the X and Y axes to be a maximum of approximately+/−40 degrees. In that case, the outputs of sensors 126 and 128 areadjusted such that the maximum signal output by the sensors correspondsto the maximum range of motion (or travel) of member 18 relative tomember 16 about the appropriate axes.

Similarly, it may be desirable to accurately calibrate the transitionbetween zone 118 (the absolute position zone) and zone 120 (the velocityposition zone) such that the transition between the zones directlycorresponds to the user's perception of increased force (as illustratedby the force profile shown in FIG. 4A). Therefore, member 18 is rotatedto the boundary position at which the perceived increased force isexhibited, and the value then being outputs by sensors 126 and 128 areset to a desired value. This can be accomplished by placing computerinput device 14 in the text fixture which is fitted with strain gauges,or other strain measuring devices, such that the text fixture canidentify when the user input device has reached the transition betweenthe absolute positioning zone and the velocity positioning zone. As withsensor calibration circuit 130, zone calibration circuit 134 can beimplemented with trim potentiometers arranged to trim the output ofsensors 126 and 128 to desired levels. Of course, alternate calibration(either hardware or software) can be used as well. For example, wherethe sensors are optical encoders, they can be re-oriented. Also, adigital offset can be provided, etc.

Microcontroller 124 is also provided with an output suitable for beingcoupled to computer 20. In one illustrative embodiment, the outputprovided by microcontroller 124 is provided according to a universalserial bus (USE) protocol. Similarly, a USB converter cable can becoupled between microcontroller 124 and computer 20 to accommodate thenecessary transmission of data. In another illustrative embodiment, theoutput for microcontroller 124 is provided according to a game portprotocol or any other desired protocol.

FIG. 6 illustrates a data packet 136 which is prepared bymicrocontroller 124 and transmitted to computer 20. While data packet136 can be transmitted to computer 20 either serially, or in parallel,the substance of data packet 136 is illustrated in FIG. 6 in terms of 5,8-bit bytes of information. The bytes are labeled byte 0 4 along theleft hand column of packet 136, and the bits are labeled bits 0-7 alongthe top row of packet 136.

The signals from sensors 126 and 128 are converted by A/D converter 136into a digital word having, illustratively, 10 bit resolution and whichis representative of the position of member 18 relative to member 16. Ofcourse, 8 bit resolution or any other desired resolution can be used aswell. The 10 bit resolution data is represented by bits X0-X9 (forsensor 128) and bits Y0-Y9 (for sensor 126). This information isincluded in packet 136 beginning with byte 0, bit position 0 and endingwith byte 2, bit position 3.

Based on the values from A/D converter 136, microcontroller 124 candetermine whether the user has rotated member 18 into the velocitycontrol zone 120 or whether member 18 is still in the absolutepositioning zone 118. The bits ZBX and ZBY located in byte 2, bitpositions 4 and 5, respectively, correspond to a determination as towhether member 18 is in the absolute or velocity positioning zones. Forexample, if the ZBX bit is set to a 0, that corresponds to member 18being in the absolute positioning zone in the X (or yaw) direction. Ifthat bit is set to a 1, that indicates that member 18 has been rotatedabout axis 102 beyond the predetermined range of motion, into thevelocity zone. The value indicated by bits X0-X9 then indicate whethermember 118 is in the velocity zone on the positive or negative side ofneutral. The ZBY bit in byte 2 bit position 5 corresponds to rotation ofmember 18 in the Y direction (or about pitch axis 106) in a similarfashion.

Bit positions 6 and 7 in byte 2 are unused.

Bits B0-B6 residing in byte 3, bit positions 0-6, are indicative of thestate of closure of the switches corresponding to the buttons in buttonarray 28. Signals T0 and T1 residing in byte 3, bit location 7 and byte4 bit location 0, respectively, indicate the state of the closure ofswitches associated with triggers 32.

Bits 1, 2 and 3 in byte 4 are unused.

In byte 4, bit locations 4-7, values are provided which represent thestate of the multiple-switch device 30. In the embodiment illustrated,device 30 is a hatswitch. Therefore, the bits in the associated bitlocations are labeled H0-H3. The following table illustrates theposition of hatswitch 30 represented by bits H0-H3.

TABLE 1 H3 H2 H1 H0 Position 0 0 0 1  0 degrees 0 0 1 0  45 degrees 0 01 1  90 degrees 0 1 0 0 135 degrees 0 1 0 1 180 degrees 0 1 1 0 225degrees 0 1 1 1 270 degrees 1 0 0 0 315 degrees 0 0 0 0 No Hatswitchdepressed

FIG. 7 is a flow diagram illustrating the formation of packet 136 bymicrocontroller 124 shown in FIG. 5. Controller 124 receives and filtersthe X and Y position information. This is indicated by block 138. Infiltering the X and Y position information, controller 124, in oneillustrative embodiment, over-samples and smooths the data received fromthe sensors. That data can be provided to filtering logic implemented incontroller 124. The filtering logic may illustratively employ low passfiltering techniques to remove large, or abberational, spikes. Once thedata has been received and filtered, it is stored in controller 124 (orassociated memory) for later creation of data packet 136.

Controller 124 also periodically polls the switch array 132 associatedwith the buttons, triggers, and hatswitch, to obtain the data associatedwith such switches. The information from switches 132 is also,illustratively, subjected to anti-jitter and over-sampling in order toimprove the robustness of the signals. This is indicated by block 140.

Controller 124 then determines, based upon the position information fromsensors 126 and 128, whether input device 14 is in the velocity zonewith respect to the X axis. This is indicated by block 142. If so,controller 124 sets the ZBX bit in packet 136 located in byte 2, bitposition 4. This is indicated by block 144.

Next, controller 124 determines whether input device 14 is in thevelocity zone relative to the Y axis. This is indicated by block 146. Ifso, controller 124 sets the ZBY bit in packet 136 located at byte 2, bitposition 5. This is indicated by block 148. Controller 124 thenassembles the remainder of packet 136, as indicated by block 150, andtransmits the packet to computer 20, according to the appropriateprotocol, as indicated by block 152.

FIG. 8 is a functional block diagram illustrating the receipt andprocessing of packet 136 on one representative embodiment of computer 20which is a personal computer. In other embodiments like when computer 20is a dedicated computer, the processing may differ somewhat, but willhave similar results. FIG. 8 illustrates computer input device 14, buslevel layers 153, first bus driver 154, re-mapper 156, applicationinterface 158, and application layer 160, which can be comprised of oneor more applications 162, 164 and 166. Prior to discussing the operationof the system illustrated in FIG. 8, it should be noted that, accordingto conventional USB protocol, devices can be classified as humaninterface devices (HID). Further, a functional device object (FDO) cancontain information related to the data, indicating to the next programmodule or device, how the data should be handled. FDOs are primarilyconverters which convert raw data into what a recipient module or deviceexpects to see. Physical device objects (PDOs) are objects which containdata and have associated methods which can be called by a recipientdevice or module to access the data. Filter device objects (FiDOs) areobjects which can examine the data, and based on certain settings (suchas settings in the registry) determine what should be done with the datain order to place it in a form in which it can be used by recipients.FDOs, PDOs, and FiDOs are all conventional objects which are wellunderstood by those of ordinary skill in the art.

In operation, device 14 first assembles a packet 136 as discussedpreviously with respect to FIGS. 6 and 7. The packet is then passed tobus level layers 153 on computer 20. Bus level layers 153 are standardUSB layers which act to receive and shuttle the data up through theprocessing stack to first bus driver 154.

First bus driver 154 is a driver which is wrapped by a HIDCLASS driverwrapper. The packet received from input device 14 is, in oneillustrative embodiment, a joystick-type data packet. Other data packets(e.g, mouse, keyboard, etc.) could be used as well. Therefore, first busdriver 154 contains an FDO which identifies the packet as ajoystick-type data packet and creates a joystick PDO and hands off theinformation to the created PDO. The joystick PDO then hands theinformation upwardly in the stack to re-mapper 156.

Re-mapper 156 is a program module, one illustrative embodiment of whichis referred to as GCKERNEL.SYS, which creates objects required by theeventual recipient applications in application layer 160. For example,since the information in packet 136 comes into computer 20 as a joystickpacket, and since many gaming applications require point of viewinformation to be transmitted by mouse and/or keyboard manipulation,re-mapper 156 determines whether the joystick information needs to bere-mapped into a mouse and/or a keyboard PDO for subsequent use atapplication layer 160.

Re-mapper 156 contains FiDOs 170 which receive the information from PDO155 in first bus driver 154. FiDOs 170 are generally illustrated in thebroken out portion of FIG. 8. FiDO 170 receives the information at inputport 172 and shuttles it to a correct PDO. FiDO 170 then determineswhether this type of input class has been assigned. This is indicated byblocks 174 and 176. If no such assignment has been made, that indicatesthat the recipient application and application layer 160 simply expectsto see the information as joystick information, and the information ispassed directly through FiDO 170 to output port 178, where it istransmitted (as indicated by arrow 180, to application layer 160).

However if, in assignment block 174, an assignment of this particulartype of input class has been made to a mouse packet, FiDO 170 providesthe information to mouse curve filter 182 which creates a mouse PDO withthe appropriate data contained therein. Such a virtual mouse PDO isindicated at 184 in re-mapper 156. The mouse PDO is then handed toapplication interface 158 which is described below.

Further, if FiDO 170 determines that the recipient application inapplication layer 160 expects to see the information in terms of akeyboard manipulation, the information is provided to Macro Queue 186which assigns keystrokes to button depressions. This acts to create avirtual keyboard PDO, illustrated by number 188 in re-mapper 156. Theinformation is then again provided to output port 178 where it istransmitted to application interface 158.

In the event that the joystick-type data packet received from device 14is actually converted into a virtual mouse or virtual keyboard PDO, itis provided to application interface 158. Application interface 158(also designated, in one illustrative embodiment, as HIDSWVD.SYS)creates a PDO which contains the information in a particular form formouse or keyboard data which is expected by application layer 160.

Therefore, re-mapper 156 functions to split data received through onepipe (e.g., the joystick pipe) into other pipes (e.g., the mouse and/orkeyboard pipes). This allows re-mapper 156 to masquerade joystick dataas mouse or keyboard data, or a combination of both-, depending uponwhat the particular application in application layer 160 is expecting toreceive.

Re-mapper 156 also serves another function. Re-mapper 156 examines thedata and determines whether the data indicates that member 18 is in theabsolute or velocity zone, relative to member 16. If it is in theabsolute zone, re-mapper 156 simply hands the application (possiblythrough application interface 158) a difference value which representsthe difference between a current position and the most recent previousposition, and the direction of offset from the most recent previousposition. The application program in application layer 160 can thenupdate the point of view display (or any other object being displayed ondisplay device 15). Similarly, if re-mapper 156 determines that member18 is in the continuous or velocity zone, re-mapper 156 sends apredetermined difference value to the application, and continues to sendthat value so long as packets are received from device 14 which indicatethat member 18 is in the velocity zone. Also, of course, as describedearlier, if the velocity zone is broken into a number of sub-bands orsub-zones, the change value can be changed based upon the particularsub-zone which member 18 currently resides in. Similarly, if thevelocity profile has a different shape, as discussed above, the changevalue is determined accordingly.

FIGS. 9A-9D further illustrate the operation of re-mapper 156. Re-mapper156 first receives a new packet from device 14. This is indicated byblock 190. Re-mapper 156 then examines the position information in thepacket to determine whether member 18 is in the absolute zone or thevelocity zone. This is indicated by blocks 192 and 194. It should benoted that the same examination and determination are made with respectto both the X and Y axes. However, only a single axis will be describedwith respect to FIGS. 9A-9C, for the sake of simplicity.

If member 18 is not in the absolute zone, that means it is in thevelocity zone and re-mapper 156 determines a change value based on acurrent position of member 18 relative to member 16, within the velocityzone. This is indicated by block 196. That change value is then outputto application layer 160 (perhaps through application interface 158) asthe new position information. This is indicated by block 198. It shouldbe noted that, in determining whether member 18 is in the absolute orvelocity zone, re-mapper 156 may implement a certain hysteresis in orderto avoid jumping back, and forth between the absolute and velocityzones, where member 18 is positioned close to the boundary between thetwo. This is described with respect to FIGS. 4A and 4B.

If, at block 194, re-mapper 156 determines that member 18 is in theabsolute positioning zone, re-mapper 156 then determines whether member18 has just entered the absolute positioning zone from the velocityzone. If that is the case, as described with respect to FIG. 4B,re-mapper 156 may wish to have the user center member 18 before actuallycoming out of the velocity zone behavior. Therefore, in accordance withone embodiment of the present invention, re-mapper 156 determines, atblock 200, whether member 18 was just previously in the absolutepositioning zone. If not, that indicates that member 18 has justre-entered the absolute positioning zone from the velocity zone. Thatbeing the case, re-mapper 156 moves the boundary between the absolutepositioning zone and the velocity zone further into the absolutepositioning zone to be coincident with the boundary of central zone 116illustrated in FIG. 4B. This is indicated by block 202. Re-mapper 156thus continues to provide values indicative of positioning member 18 inthe velocity zone until member 18 is positioned to within apredetermined range of nominal center. Given the fact that the boundarybetween the zones has been moved to the central zone 116, re-mapper 156determines the change value which is to be sent to the application,based upon the position of member 18. This is indicated in block 204.That value is then output as the new position information to applicationlayer 160. This is indicated by block 198. Of course, as described abovewith respect to FIGS. 4A and 4B, transitioning between the zones can behandled in a variety of different ways. These are implemented byre-mapper 156 accordingly.

When member 18 is in the absolute positioning zone, and the user is notmoving it, the actual position information values provided by theposition sensors can fluctuate by several bit positions because ofcertain tolerances and filtering techniques. If these were recognized byre-mapper 156, the first person perspective view being displayed ondisplay 15 would tend to jitter or jump back and forth based on theseminor, and inadvertent, changes in the position information. Therefore,a conventional jitter filter can be employed which ignores changes inthe position information where the magnitude of the change is less thana threshold level.

However, ignoring changes tends to reduce resolution resulting in lesssmooth control. For instance, if the user is moving member 18 about axis102 continually in the clockwise direction, there is substantially noneed to employ a jitter filter, because each sampled value will belarger than the previous. Therefore, is no need to reduce resolution.

For this reason, if, at block 200, it is determined that member 18 is inthe absolute positioning zone, and was in the absolute positioning zoneduring the previous sampling interval, re-mapper 156 then determineswhether a slope flag is set. A slope flag is set to indicate a directionof movement of member 18 about the relevant axis where two or moreconsecutive packets are received which contain position informationindicating that the position of member 18 has changed, in the samedirection, for two or more consecutive sampling periods.

If that is the case, that indicates that the user has been continuallymoving member 18 in the same direction for at least two samplingintervals. Determining whether the slope flag is set is indicated byblock 206. If the slope flag is not set, that indicates that the userhas not been continuously moving member 18 in one direction for two ormore consecutive sampling intervals. In that case, re-mapper 156 invokesthe jitter filter (described in greater detail with respect to FIG. 9D).This is indicated by block 208. Based upon the output of the jitterfilter, re-mapper 156 outputs new position information to theapplication, as indicated in block 198.

If, at block 206, the slope flag is set, then re-mapper 156 determineswhether the change in position of member 18 is in the same direction asthe previous slope. If not, that indicates that the user has switcheddirections of movement. In that instance, it may be desirable to againinvoke the jitter filter as indicated by block 208. Determining whetherthe change in position is in the same direction as the previous slope isindicated by block 210.

If, at block 210, it is determined that the change in position of member18 is in the same direction as the previous slope, that indicates thatthe user has simply continued moving member 18 in the same direction,and there is no need to invoke the jitter filter and encounter theconsequent reduction in resolution. Therefore, re-mapper 156, in thatcase, simply outputs the new position information to the applicationlayer 160, as indicated by block 198.

Once the new position information has been provided to the application,the application updates the display based on the new data from the XYposition fields and the remaining data (such as depression of anyswitches in the button array, etc.). This is indicated by block 212.

FIG. 9C better illustrates invocation of the jitter filter. When thejitter filter is invoked, re-mapper 156 determines whether the change inposition from the previous value is greater than a threshold level. Thisis indicated by block 214. If so, this corresponds to a legitimatechange in position, and re-mapper 156 provides the new positioninformation to application layer 160. This is indicated by block 198.However, if, at block 214, it is determined that the change in positionfrom the previous value is not in excess of the threshold value, thenre-mapper 156 simply ignores the change in position. This is indicatedby block 260.

FIG. 10 is an exploded view of but one illustrative embodiment ofcomputer input device 14, better illustrating a number of the mechanicalfeatures thereof. FIG. 10 illustrates computer input device 14 in aposition which is inverted from a normal use position. FIG. 10illustrates that input device 14 has a lower housing 220, and an upperhousing 222 which are connected together during assembly. Upper housing222 has a plurality of cavities 224 for receiving thumb contact portions226 for the buttons in button array 28. Thumb contact portions 226, inturn, frictionally engage corresponding plungers 228 which act, whendepressed, to close switch contacts located on associated printedcircuit boards 230.

Finger engaging triggers 32 are pivotally mounted to posts 232 which aresecured to upper housing portion 222. Triggers 32 have extendingplungers 234, which, when triggers 32 are depressed, engagecorresponding switches 236 mounted on printed circuit boards 230.

In addition, hatswitch 30 is mounted, through an aperture in upperhousing 222, to shoulder 238. As hatswitch 30 is depressed to variousangles (as described with respect to Table 1 above) shoulder 238 acts toclose one or more set of switch contacts mounted on printed circuitboard 240 (in the embodiment illustrated in FIG. 10, the switches aremounted on a side of printed circuit board 240 opposite that shown).

Linkage (or hinge portion) 22 includes a first cam assembly 242 and asecond cam assembly 244, both of which are described in greater detailwith respect to FIGS. 12A-14C. Cam assembly 242 allows member 18 topitch about axis 106, while cam assembly 244 allows member 18 to yawabout axis 102. Input device 14 also illustratively includes a hollowshaft 246 which extends through cam assembly 244 and into cam assembly242. A wire harness 248 extends through the hollow portion of shaft 246,and carries signals from the various switches and buttons on circuitboard 230 on member 18, back to circuit board 230 located on member 16,for further processing.

A sleeve 252 is used to connect shaft 246 to potentiometer 260. Sleeve252 contains an extending tongue portion 254. Tongue portion 254 issized to snugly fit within an open upper portion of hollow shaft 246, inorder to frictionally engage the interior surface of hollow shaft 246within the open upper portion. Sleeve 252 also has an opposite end 256which includes an opening sized to receive rotational wiper 258 ofpotentiometer 260 which is mounted to circuit board 230 contained inmember 16. When sleeve 252 is assembled onto shaft 246, it rotates alongwith shaft 246 as member 18 is pitched about axis 106. Since opening 256in sleeve 252 frictionally engages wiper 258 of potentiometer 260, wiper258 also rotates along with shaft 246. This provides a potentiometersignal which is indicative of the movement of member 18 about axis 106.

FIG. 11 is a greatly enlarged view of a portion of computer input device14 illustrated in FIG. 10. Similar items are similarly numbered to thoseshown in FIG. 10. FIG. 11 illustrates that a second shaft 266 is coupledto member 18 and extends upwardly (in the view shown in FIG. 11) throughcam assembly 242. Shaft 266 extends upward through an open portion ofshaft 246, and defines axis 102, about which member 18 pivots in the yawor X direction. Although obscured by cam assembly 242, a potentiometerarrangement, similar to that described with respect to shaft 246 in FIG.10, is provided for shaft 266, such that an electrical signal indicativeof the position of member 18 in the X direction is also provided tocircuit board 230 (through wire harness 248).

FIG. 11 also illustrates that the housing for member 18 defines anopening 270 therein. Opening 270 is large enough to provide a slightclearance between housing 268 and annular sleeve 272. Annular sleeve 272is rigidly coupled to shaft 246, and rotates therewith. In oneembodiment, annular sleeve 272 and shaft 246 are integrally molded toone another. Annular sleeve 272 remains in place while member 18 rotatesabout its exterior periphery. Since annular sleeve 272 extends inwardly,into housing 18, even when member 18 is rotated about axis 102 throughits full range of motion, sleeve 272 still maintains substantial closureof aperture 270, so that the inside of housing 268 of member 18 is notexposed.

FIG. 11 also illustrates that cam assembly 244 includes a closure 274which has an interior periphery sized just larger than the exteriorperiphery of cam 276. Cam follower 278 is arranged closely proximate cam276, and is arranged to rotate with shaft 246. A compression spring 280(illustrated in FIG. 12A) is disposed between the interior wall ofclosure 274 and an opposing surface of cam 276.

FIGS. 12A-14C better illustrate cam assemblies 242 and 244. While thecam assembly illustrated in these figures can be applied equally toeither of the cam assemblies 242 or 244, for the sake of clarity, onlycam assembly 244 will be discussed herein. Further, the orientation ofthe cam and cam follower can be reversed from that illustrated.

FIG. 12A is an exploded view of cam 276, cam follower 278 andcompression spring 280, with closure 274 removed. FIG. 12A illustratesthat cam 276 has a plurality of cammed surfaces 282 disposed on asubstantially flat surface thereof, opposite that shown in FIG. 12A.Similarly, cam 276 includes a shoulder 284 which is sized just largerthan an exterior periphery of compression spring 280. Therefore,compression spring 280 abuts cam 276, within the depression defined byshoulder 284.

Cam follower 278 includes a plurality of protrusions 286, which protrudefrom a substantially flat cam following surface 288. Cam follower 278 isdisposed about shaft 246 to rotate with shaft 246.

FIG. 12B illustrates an assembled view of cam assembly 244, with closure274 removed. FIG. 12B illustrates cam assembly 244 in a neutralposition, in which protrusions 286 reside between cammed surfaces 282.The neutral position corresponds to member 18 being within behavioralzone 110 in FIG. 4A.

FIG. 12C is a side sectional view taken through a portion of camassembly 244 in the neutral position. FIG. 12C better illustrates that,in a neutral position, compression spring 280 exerts a force on cam 276and cam follower 278, such that the protrusions 286 on cam follower 278and the cammed surfaces 282 on cam 276 abut substantially flat, opposingsurfaces. Therefore, as shaft 246 rotates, the user perceives asubstantially constant force created by the friction of protrusions 286and cammed surfaces 282 sliding along the opposing surfaces under theforce exerted by compression spring 280. In one illustrative embodiment,cam 276 and cam follower 278 are formed of an acetal material sold underthe tradename Delrin. This material provides a viscous, fluid feel, withlight resistance to movement, as the two pieces slide over one another.Of course, other materials could be used as well to provide the desiredfeel.

FIGS. 13A-13D illustrate cam assembly 244 in a position rotated, forexample, approximately 30 degrees relative to the neutral positionillustrated in FIGS. 12A-12C. Thus, FIGS. 13A-13D illustrate camassembly 244 when member 18 has been rotated all the way through zone110 illustrated in FIG. 4A, and is beginning to transition into one ofzones 112 or 114. As can be clearly seen in FIGS. 13C, cam surface 282and protrusions 286 are directly abutting one another under the force ofcompression spring 280. Therefore, as the user rotates member 18 out ofthe absolute position zone into the velocity zone, the user feels adistinct increase in resistance to rotation because cam surfaces 282 andprotrusions 286 engage one another at that point.

FIGS. 14A-14B and 13D illustrate cam assembly 244 in a position in whichit has been rotated, for example, approximately 40 degrees from theneutral position illustrated in FIGS. 12A-12C. Therefore, thiscorresponds to, for example, one extreme side of zone 112 illustrated inFIG. 4B. As illustrated in FIG. 13D, cam surfaces 282 have engaged theprotrusions 286 on cam follower 278, and have been pushed toward oneanother such that the cam 276 is displaced from cam follower 278. Ofcourse, cam follower 278 is fixed in the vertical direction of the viewillustrated in FIG. 13D. Therefore, cam 276 is forced to move upwardly,thereby compressing spring 280. The further that spring 280 iscompressed, the greater resistance force exhibited by spring 280.Therefore, when cam follower 278 has been rotated to its full range ofmotion (e.g., approximately +40 degrees from neutral) spring 280 isexerting its highest degree of force and the user is thus perceiving thegreatest resistance to rotation at that point.

FIGS. 15-17 illustrate certain ergonomic aspects of input device 14.FIG. 15A illustrates that members 16 and 18 both have a generallylongitudinal axis 290 and 292, respectively. The longitudinal axes ofmembers 16 and 18, in order to obtain a more ergonomically neutralposture, have a slight toe-in angle. For example, shaft 246 defines anaxis generally illustrated by number 294 in FIG. 15A. Axes 290 and 292are toed in by an angle 296 relative to a line generally perpendicularto axis 294. The toe-in angle 296 is illustratively in a range ofapproximately 10-15 degrees and can be further approximately 12 degrees.Thus, the shape and initial toe-in angle of input device 14 provide theuser's wrist in the neutral initial wrist posture. On average, theinitial wrist posture for device 14 is approximately 14 degreesextension and 8 degrees ulnar deviation. These values are within a rangeof neutral posture for the wrist. Neutral wrist flexion/extension is ina range of approximately 0 degrees to 20 degrees extension, whileneutral wrist deviation is in a range of approximately 0 degrees to 20degrees ulnar deviation.

FIG. 15B illustrates a number of spacings to accommodate the thumb widthof North American males having thumb widths in the 5th percentilethrough the 95^(th) percentile. The thumb actuated controls (such ashatswitch 30 and the buttons in button array 28) have spacings which areconfigured to avoid inadvertent actuations. Therefore, thecenter-to-center spacing 300 of buttons in button array 28 isillustratively in a range of approximately 18 mm to 28 mm, and also canbe approximately 21 mm. In addition, the center-to-center spacing 302 ofbuttons in array 28 is illustratively in excess of about 13 mm, andfurther is approximately 14.6 mm.

In addition, linkage (or hinge mechanism) 22 illustratively includes asurface 304 on which the thumb of the user's right hand can rest, whennot actuating buttons in array 28. The central region of surface 304also corresponds to the pivot location for pivoting member 18 about axis102. The distance 306 between the center of the four button array 28 onmember 18 and the pivot axis 102 is illustratively in a range ofapproximately 7 mm to 47 mm. Distance 306 is further illustratively in arange of approximately 25-30 mm and may be approximately 27 mm.

Distance 308, from the pivot axis 102 to the center of four button array28 is configured to accommodate the range of motion for a typical thumbswing. Distance 308 is illustratively in a range of approximately 30-40mm, and may be approximately 34.6 mm.

Direction pad 30 also has a size which accommodates males having a thumbwidth in the fifth percentile to 95^(th) percentile, and is configuredto avoid inadvertent actuations. Therefore, hatswitch 30 has a length310 which is illustratively in a range of approximately 20-30 mm and maybe approximately 28.4 mm. In addition, hatswitch 30 has a width 312which is illustratively in a range of approximately 18 to 28 mm and canbe approximately 22.5 mm.

FIG. 16A is a perspective view taken from a front lower side of inputdevice 14. FIG. 16A illustrates that the hand grips of members 16 and 18have a lower, finger-engaging portion 314 and 316 which is textured toincrease grip friction. The texture can be any friction enhancingsurface, such as a low durometer material, ridges formed therein, orroughly textured plastic.

FIG. 16B is a sectional view taken along section line 16B-16B in FIG.16A. FIG. 16B illustrates that the edges of the handle portion of member16 are rounded and shaped in a convex arc which is configured to fit theconcave arc of the palmer region of the user's hand. Similarly, theoverall diameter 320 of the handle portions is configured to accommodatethe North American male having a palm size in the fifth percentile to95^(th) percentile range. Thus, the diameter 320 is illustratively in arange of approximately 43 mm to 53 mm and can be approximately 50 mm.Similarly, the girth (or outer periphery) of the handle portions ofmembers 16 and 18 is illustratively in a range of approximately 120-145mm, and can be approximately 133 mm.

FIG. 17 is a cross-section of member 18 taken along axis 292 shown inFIG. 15A. The length 322 of the handle portion of member 18 isillustratively configured to accommodate the palm width of NorthAmerican males in the fifth percentile to 95^(th) percentile range.Thus, length 322 is illustratively in excess of approximately 86 mm, andmay also be in excess of approximately 105 mm, and further may beapproximately 131 mm. FIG. 17 also better illustrates that members 16and 18 are embodied somewhat as a pistol grip in that the handleportions thereof extend rearwardly and downwardly from the pad areawhich supports button array 28 and hatswitch 30. A distance 324 from thecenter of the four button array 28 located on member 18 to the end ofthe handle portion of member 18 is illustratively in a range ofapproximately 90 to 100 mm and can be approximately 97.5 mm.

The location of trigger 32 is configured such that it can be actuated bythe tip of the index finger when the hand and fingers are in a pistolgrip configuration on the handle portion of member 18. A distance 326from the center of the four button array 28 on member 18 to the forwardsurface of trigger 32 accommodates North American males having fingerlength in a fifth percentile to 95^(th) percentile range. This isaccomplished by enabling the small end of the target population to reachthe surface of trigger 32 when the hand is in a pistol grip. Thus,distance 326 is less than approximately 45 mm, and may be less thanapproximately 35 mm, and may further be approximately 33.5 mm.

In addition, the weight of device 14 is illustratively small enough sothe device can be used for a prolonged period without causingsubstantial user fatigue. Thus, in one illustrative embodiment, device14 weighs in a range of approximately 225 to 345 grams. Device 14 canalso weigh approximately 284 grams.

CONCLUSION

Thus, the present invention provides a user input device to a computerwhich has two members which are rotatable and articulable relative toone another and provide a signal indicative of that movement. Thepresent invention illustratively provides movement between two or moreranges of motion which is sensed and can be used to change thebehavioral characteristics of an object being displayed. Similarly, thedevice is configured with components thereof having sizes and shapes toaccommodate ergonomic actuation.

Although the present invention has been described with reference topreferred embodiments, workers skilled in the art will recognize thatchanges may be made in form and detail without departing from the spiritand scope of the invention.

What is claimed is:
 1. An electronic input device comprising: a first handle; a second handle movably coupled to the first handle, wherein the first handle is pivotal relative to the second handle about a first axis of rotation through a first range of motion comprising a plurality of zones, a first zone being located in a generally centrally located region of the first range of motion, and wherein the first handle is pivotal relative to the second handle about a second axis of rotation through a second range of motion including a plurality of zones; a sensor operably coupled to the first and second handles and configured to provide a position signal indicative of a position of the first and second handles relative to one another; a first linkage portion coupled to at least one of the first and second handles, wherein the first linkage portion includes a first resistance mechanism configured to provide a first resistance to movement as the handle moves through a first zone located in a generally centrally located region of the range of motion, a second resistance mechanism configured to provide a second resistance to movement as the handle moves through a second zone, and a first shaft rigidly coupled to one of the first handle and the second handle and rotatably coupled to the other of the first handle and the second handle, the first shaft defining the first axis of rotation; a second linkage portion coupled to at least one of the first and second handles and providing a tactile feedback as the first handle transitions from a first of the plurality of zones to a second of the plurality of zones in the second range of motion, wherein the second linkage portion comprises a second shaft rigidly coupled to another one of the first and second handles and rotatably coupled to the other of the first and second handles and defining the second axis of rotation; and a controller coupled to the sensor and configured to provide a computer input indicative of the position based on the position signal.
 2. An electronic input device of claim 1 wherein the first linkage portion comprises: a first cam assembly including a cam and cam follower coupled between the first shaft and the second handle, wherein the cam follower engages a cam surface on the cam as the first handle transitions from the first zone to the second zone in the first range of motion.
 3. An electronic input device of claim 2 wherein the second linkage portion comprises: a second cam assembly including a cam and cam follower coupled between the first and second handles, wherein the cam follower engages a cam surface on the cam as the first handle transitions from the first zone to the second zone in the second range of motion.
 4. An electronic input device comprising: a first handle; a second handle; a linkage coupled between the first and second handles such that the first handle is pivotal relative to the second handle about a first axis of rotation through a range of motion in a range of approximately 40-100 degrees of travel about the axis of rotation, wherein the first and second handles each define a longitudinal axis and wherein each longitudinal axis is disposed at a toe-in angle relative to a line perpendicular to the first axis of rotation, the toe-in angle being in a range of approximately 8-16 degrees; a sensor operably coupled to the first and second handles and configured to provide a position signal indicative of a position of the first and second handles relative to one another; and a controller coupled to the sensor and configured to provide a computer input indicative of the position based on the position signal.
 5. An electronic input device of claim 4 wherein each toe-in angle is approximately 12 degrees.
 6. An electronic input device comprising: a first member; a handle movably coupled to the first member and pivotal relative to the first member through a range of motion comprising a plurality of zones; a sensor operably coupled to the first member and the handle and configured to provide a position signal indicative of a position of the first member and the handle relative to one another; a linkage portion coupled to at least one of the first member and the handle, wherein the linkage portion includes a first resistance mechanism configured to provide a first resistance to movement as the handle moves through a first zone located in a generally centrally located region of the range of motion, a second resistance mechanism configured to provide a second resistance to movement as the handle moves through a second zone, and a third resistance mechanism configured to provide a third resistance to movement as the handle moves through a third zone; and a controller coupled to the sensor and configured to provide a computer input indicative of the position based on the position signal.
 7. The computer input device of claim 6 wherein the third resistance mechanism is configured to provide the third resistance as a varying resistance which changes as the first handle moves through the third zone.
 8. The computer input device of claim 6 wherein the first zone is located between the second and third zones along the first range of motion. 